Add asset kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27

.gitattributes

@@ -8466,3 +8466,4 @@ dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/m
 dataset/kitchen_supplies/tableware/2656f6c2dd8e58af9a31ae47abf5c14e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/28b78caba0455c25b0e3ac3df432c637/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/tableware/291b35407cb0518eb536f43ccb5e9907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27/affordance/affordance_annot.json

@@ -0,0 +1,51 @@
+{
+    "affordances": [
+        {
+            "part_name": "tray interior basin",
+            "mask_color": "Red",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "hold served items",
+                "provide a shallow flat carrying surface",
+                "contain small spills within the dish",
+                "present food or objects"
+            ],
+            "semantic_description": "Shallow oval tray interior with a glossy white ceramic-like surface and a dense multicolor floral pattern covering most of the visible center.",
+            "id": 0,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "tray body",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the tray by opposite outer edges to lift and carry it",
+                    "confidence": 0.78
+                },
+                {
+                    "scenario": "pinch an outer edge to slide or reposition the tray on a table",
+                    "confidence": 0.7
+                },
+                {
+                    "scenario": "hold the perimeter to stabilize the tray while placing or removing items",
+                    "confidence": 0.72
+                }
+            ],
+            "functional_labels": [
+                "support the tray structure",
+                "provide the perimeter and side boundary",
+                "enable carrying by the edge",
+                "retain items on the tray"
+            ],
+            "semantic_description": "Entire oval tray body visible from the opposite side in some views, with a glossy ceramic-like finish, shallow raised rim, beige-tan border, and colorful decorative pattern on the top-facing side.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Green mask marks underside/base, not tray body rim; part identity and description mismatch."
+    }
+}

dataset/kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc97e07a5e891e7af5523bad9da64278098b7a8095a496b47723a12dd885aa8f
+size 3780284

dataset/kitchen_supplies/tableware/296122b6b55d5ef19926256abd615b27/tray_050.urdf

@@ -57,6 +57,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>YES</PartSegChecker>